Nonlinear Control of Robots and Unmanned Aerial Vehicles: An Integrated Approach

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Author : Ranjan Vepa
Genre : Technology & Engineering

Summary : Nonlinear Control of Robots and Unmanned Aerial Vehicles: An Integrated Approach presents control and regulation methods that rely upon feedback linearization techniques. Both robot manipulators and UAVs employ operating regimes with large magnitudes of state and control variables, making such an approach vital for their control systems design. Numerous application examples are included to facilitate the art of nonlinear control system design, for both robotic systems and UAVs, in a single unified framework. MATLAB® and Simulink® are integrated to demonstrate the importance of computational methods and systems simulation in this process.

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Author : Ranjan Vepa
Genre : Technology & Engineering

Summary : Nonlinear Control of Robots and Unmanned Aerial Vehicles: An Integrated Approach presents control and regulation methods that rely upon feedback linearization techniques. Both robot manipulators and UAVs employ operating regimes with large magnitudes of state and control variables, making such an approach vital for their control systems design. Numerous application examples are included to facilitate the art of nonlinear control system design, for both robotic systems and UAVs, in a single unified framework. MATLAB® and Simulink® are integrated to demonstrate the importance of computational methods and systems simulation in this process.

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Author : Béla Lantos
Genre : Technology & Engineering

Summary : Nonlinear Control of Vehicles and Robots develops a unified approach to the dynamic modeling of robots in terrestrial, aerial and marine environments. The main classes of nonlinear systems and stability methods are summarized and basic nonlinear control methods, useful in manipulator and vehicle control, are presented. Formation control of ground robots and ships is discussed. The book also deals with the modeling and control of robotic systems in the presence of non-smooth nonlinearities. Robust adaptive tracking control of robotic systems with unknown payload and friction in the presence of uncertainties is treated. Theoretical and practical aspects of the control algorithms under discussion are detailed. Examples are included throughout the book allowing the reader to apply the control and modeling techniques in their own research and development work. Some of these examples demonstrate state estimation based on the use of advanced sensors as part of the control system.

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Author : Mahmut Reyhanoglu
Genre : Technology & Engineering

Summary : This book presents recent studies of unmanned robotic systems and their applications. With its five chapters, the book brings together important contributions from renowned international researchers. Unmanned autonomous robots are ideal candidates for applications such as rescue missions, especially in areas that are difficult to access. Swarm robotics (multiple robots working together) is another exciting application of the unmanned robotics systems, for example, coordinated search by an interconnected group of moving robots for the purpose of finding a source of hazardous emissions. These robots can behave like individuals working in a group without a centralized control.

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Author : Ziquan Yu
Genre : Technology & Engineering

Summary : The monograph explores the safety of unmanned flight vehicles via the corresponding fault-tolerant control design methods. The authors analyse the safety control issues of unmanned flight vehicles, which include finite-time recovery against faults, concurrence of actuator faults and sensor faults, concurrence of actuator faults and wind effects, and faults encountered by a portion of unmanned flight vehicles in a distributed communication network. In addition, the commonly used simple but effective proportional-integral-derivative structure is also incorporated into the safety control design for unmanned flight vehicles. By using the fractional-order calculus, the developed safety control results are able to ensure flight safety and achieve the refined performance adjustments against faults and wind effects. The book will be of interest to 3rd/4th year undergraduate students, postgraduate and graduate students, researchers, academic staff, engineers of aircraft and unmanned flight vehicles.

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Author : Ranjan Vepa
Genre : Technology & Engineering

Summary : Flight Dynamics, Simulation, and Control of Aircraft: For Rigid and Flexible Aircraft explains the basics of non-linear aircraft dynamics and the principles of control-configured aircraft design, as applied to rigid and flexible aircraft, drones, and unmanned aerial vehicles (UAVs). Addressing the details of dynamic modeling, simulation, and control in a selection of aircraft, the book explores key concepts associated with control-configured elastic aircraft. It also covers the conventional dynamics of rigid aircraft and examines the use of linear and non-linear model-based techniques and their applications to flight control. This second edition features a new chapter on the dynamics and control principles of drones and UAVs, aiding in the design of newer aircraft with a combination of propulsive and aerodynamic control surfaces. In addition, the book includes new sections, approximately 20 problems per chapter, examples, simulator exercises, and case studies to enhance and reinforce student understanding. The book is intended for senior undergraduate and graduate mechanical and aerospace engineering students taking Flight Dynamics and Flight Control courses. Instructors will be able to utilize an updated Solutions Manual and figure slides for their course.

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Author : Ranjan Vepa
Genre : Science

Summary : Presents the established principles underpinning space robotics with a thorough and modern approach. This text is perfect for professionals in the field looking to gain an understanding of real-life applications of manipulators on satellites, and of the dynamics of satellites carrying robotic manipulators and of planetary rovers.